WO2022116017A1

WO2022116017A1 - Grating disc, method for recognizing z-phase signals, photoelectric encoder and laser radar

Info

Publication number: WO2022116017A1
Application number: PCT/CN2020/133183
Authority: WO
Inventors: 李一鹏
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2022-06-09
Also published as: CN114846301A; US20230296413A1; CN114846301B

Abstract

A grating disc (1004), a photoelectric encoder (1000), a laser radar and a method for recognizing Z-phase signals (Z1, Z2, Z3); the grating disc (1004) comprises a disc (11), at least two Z-phase grooves are distributed on the disc (11) in the radial direction, and when the Z-phase grooves (21, 22, 23,…,2n) on the disc (11) is anomalous due to contamination, a Z-phase signal (Z3) generated by an anomalous Z-phase groove (23) can be quickly recognized by means of the preset distribution positions of the Z-phase grooves (21, 22, 24,..., 2n), and then zero calibration can be realized by using the remaining normal Z-phase grooves (21, 22, 24,..., 2n), thereby improving the reliability of zero calibration.

Description

Grating disk, identification method of Z-phase signal, photoelectric encoder and lidar

technical field

The application relates to the field of servo motors, and in particular, to a grating disk, a method for identifying a Z-phase signal, a photoelectric encoder and a laser radar.

Background technique

The photoelectric encoder is a sensor that converts the mechanical geometric displacement on the output shaft of the servo motor into pulse or digital quantity through photoelectric conversion. This is the most widely used sensor at present. The photoelectric encoder is composed of a light source, an optical code disc and a photosensitive element. The grating disk is to open a number of rectangular holes in equal parts on a disk with a certain diameter. Since the photoelectric encoder disk is coaxial with the motor, when the motor rotates, the grating disk rotates at the same speed as the motor. The optical receiver composed of electronic components such as light-emitting diodes detects and outputs several pulse signals. By calculating the number of pulses output by the photoelectric encoder per second It can reflect the current speed of the motor. In addition, in order to determine the rotation direction, the code disc can also provide two pulse signals with a phase difference of 90. In order to record the absolute position of the rotating shaft, there is usually a Z-phase engraved line on the grating disc. The Z-phase engraved line connects two adjacent engraved lines. The photoelectric encoder uses the Z-phase signal corresponding to the Z-phase engraved line to zero position. However, if the surface of the grating disc is covered with stains or damage during use, the photoelectric encoder will detect abnormal Z-phase signals, resulting in detection errors.

SUMMARY OF THE INVENTION

The grating disc, the Z-phase signal identification method, the photoelectric encoder and the laser radar provided by the embodiments of the present application can solve the problem of detection error caused by abnormal Z-phase scribe lines on the grating disc in the related art. The technical solution is as follows:

In a first aspect, an embodiment of the present application provides a grating disk, including:

Disc, the disc has at least two Z-phase scribe lines distributed along the radial direction, the radial direction represents the direction passing through the axis line in the radial plane, and the length of each Z-phase scribe line is less than or equal to the radius of the disc, then Each Z-phase scribe line also corresponds to an angle, and the angle range is between 0 degrees and 360 degrees. Each Z-phase scribe line has a certain width, and a plurality of A-phase scribe lines and /B-phase scribe lines are closely and evenly distributed in the radial direction on the disc, and the widths of different types of scribe lines are not equal.

In a possible design, the widths of any two Z-phase scribe lines in the at least two Z-phase scribe lines are not equal. It is easy to understand that the pulse widths of the Z-phase signals corresponding to the Z-phase scribed lines of different widths are also not equal.

In a possible design, at least two Z-phase scribe lines are evenly distributed on the disk, that is, the angular intervals of two adjacent Z-phase scribe lines are equal.

In a possible design, when the number of the at least two Z-phase scribe lines is greater than or equal to 3, the width of the Z-phase scribe lines is incremented by a preset preset step size.

In one possible design, the at least two Z-phase scribe lines are non-uniformly distributed on the disc.

In a possible design, the number of the at least two Z-phase scribe lines is greater than or equal to 3, and the angular interval of two adjacent Z-phase scribe lines is incremented by a preset step size.

In one possible design, the widths of each Z-phase scribe line are equal.

In a possible design, the number of at least two Z-phase scribe lines is 2, and the angle difference between the two Z-phase scribe lines is between 30 degrees and 120 degrees.

In a second aspect, the present application provides a method for identifying a Z-phase signal, which is applied to a grating disk, where the grating disk includes a disk, and the disk is radially distributed with at least two Z-phase scribe lines;

Wherein, the identification method includes:

determining the positions of multiple Z-phase signals collected within a preset time period;

Identifying an abnormal Z-phase signal among the plurality of Z-phase signals according to the positions of the at least two Z-phase scribe lines and the positions of the respective Z-phase signals;

When there is an abnormal Z-phase signal, the position of the abnormal Z-phase scribe line on the grating disc is determined according to the position of the abnormal Z-phase signal.

In one possible design, also include:

When the plurality of Z-phase signals are not all abnormal Z-phase signals, filter the abnormal Z-phase signals, and perform zero calibration by using normal Z-phases other than the abnormal Z-phase signals; or

When the plurality of Z-phase signals are all abnormal Z-phase signals, an alarm prompt signal is output.

In a third aspect, the present application provides a photoelectric encoder, comprising: a light source, a light receiver, a grating disk, a processor and a memory, and a grating disk is arranged between the light source and the light receiver;

Wherein, the memory stores a computer program adapted to be loaded by the processor and perform the method steps according to any one of the first aspects.

In a fourth aspect, the present application provides a laser radar, including the above-mentioned photoelectric encoder.

The beneficial effects brought by the technical solutions provided by some embodiments of the present application include at least:

At least two Z-phase grating lines are redundantly set on the grating disc. When an abnormality such as dirt occurs on the grating disc, the abnormal Z-phase signal is identified by the position of the preset Z-phase grating line. According to the known at least two The position of each Z-phase graticule can quickly identify the Z-phase signal generated by the abnormal Z-phase graticule, and then use other normal Z-phase graticules to achieve zero calibration, so the reliability of zero calibration can be improved; in addition, The position of the abnormal Z-phase scribe line on the grating disc can be determined according to the abnormal Z-phase signal, which is convenient for fault location and maintenance of the grating disc.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a grating disk provided by an embodiment of the present application;

2 is another schematic structural diagram of a grating disk provided by an embodiment of the present application;

3 is a schematic flowchart of a method for identifying a Z-phase signal provided by an embodiment of the present application;

4A is a schematic structural diagram of a normal grating disk provided by an embodiment of the present application;

4B is a waveform diagram of a Z-phase signal and an A-phase signal generated according to the grating disk of FIG. 4A;

5A is a schematic structural diagram of an abnormal grating disk provided by an embodiment of the present application;

5B is a waveform diagram of a Z-phase signal and an A-phase signal generated according to the grating disk of FIG. 5A;

6A is a schematic structural diagram of an abnormal grating disk provided by an embodiment of the present application;

6B is a waveform diagram of a Z-phase signal and an A-phase signal generated according to the grating disk of FIG. 8A;

7A is a schematic structural diagram of an abnormal grating disk provided by an embodiment of the present application;

7B is a waveform diagram of a Z-phase signal and an A-phase signal generated according to the grating disk of FIG. 7A;

FIG. 8 is a schematic structural diagram of a photoelectric encoder provided by an embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

1 is a schematic structural diagram of a grating disk provided by an embodiment of the present application. The grating disk includes a disk 11, and n Z-phase scribe lines are distributed on the disk 11 along the radial direction, and n is an integer greater than or equal to 2. The types of grating disks are divided into transmission type and reflection type. For the transmission type grating disk, a grating disk is set on the rotating shaft of the motor, a plurality of slits are set on the grating disk, and light sources and light sources are respectively set on both sides of the grating disk. Receiver, the rotating shaft of the motor drives the grating disk to rotate synchronously during the rotation process, the optical signal emitted by the light source penetrates the gap on the grating disk and is detected by the optical receiver, and the optical receiver converts the detected optical signal into an electrical signal, and then according to the electrical The property information of the signal calculates the angular velocity of the motor. For the reflective grating disc, the difference is that there are multiple reflective strips on the grating disc, the light source and the light receiver are arranged on the same side of the grating disc, and the optical signal emitted by the light source is received by the reflection of the reflective strips. Then the optical receiver converts the detected optical signal into an electrical signal, and calculates the angular velocity of the motor according to the property information of the electrical signal.

For the transmission type grating disk, the Z-phase grating line is the slit set on the disk 11 ; for the reflection type grating disk, the Z-phase grating line is the reflection strip set on the disk 11 . When the Z-phase signal is collected twice in a row, it means that the motor drives the grating disk to rotate 360 degrees. It is easy to understand that the width of the Z-phase line is related to the width of the Z-phase signal, that is, the larger the width of the Z-phase line, the larger the pulse width of the Z-phase signal, and the smaller the width of the Z-phase line, the pulse of the Z-phase signal. The smaller the width. The radial direction indicates the direction along the radius of the disk 11 , that is, the extension lines of the Z-phase scribe line 21 to the Z-phase scribe line 2n all pass through the center of the disk 11 (not shown in FIG. 1 ).

Wherein, the n number of Z-phase scribe lines may be uniformly distributed on the disc 11 , and may also be non-uniformly distributed on the disc 11 . Evenly distributed means that n Z-phase scribe lines divide the circumference of the disk 11 into n arcs, and the angle of each arc is 360 degrees/n, for example: n=4, 4 Z-phase scribe lines divide the circumference of the circle. Divided into 4 arcs, each with an angle of 90 degrees. Non-uniform distribution means that n Z-phase scribe lines divide the circumference of the disk 11 into n arcs, and there is at least one arc with unequal angles in the n arcs. Preferably, all the circles in the n arcs The angles of the arcs are not equal, for example: n=3, 3 Z-phase lines divide the circumference into 3 arcs, the sum of the angles of the 3 arcs is 360 degrees, and the angle distribution of the 3 arcs is 60 degrees , 120 degrees and 180 degrees, the angles of each arc are not equal.

It should be noted that in addition to the n number of Z-phase scribe lines, the disc 11 is also provided with a plurality of A-phase scribe lines and/or B-phase scribe lines (not shown in the figure), and a plurality of A-phase scribe lines Lines or B-phase scribe lines are evenly distributed in the radial direction of the disk 11 , A-phase scribe lines are used to generate A-phase signals, and B-phase scribe lines are used to generate B-phase signals. Wherein, when the A-phase scribe line and the Z-phase scribe line are set on the disc 11, since the positions of the A-phase scribe line and the Z-phase scribe line are known, the interval between two adjacent Z-phase signals can be A The number of phase signals is represented; or when the B-phase and Z-phase scribe lines are set on the disc 11, since the positions of the B-phase and Z-phase scribe lines are known, the adjacent two Z-phase The interval of the signals can be represented by the number of B-phase signals; or when the A-phase, B-phase and Z-phase lines are set on the disc 11 at the same time, because the A-phase, B-phase and Z-phase lines are The position of the phase line is known. When the A-phase signal is used to represent the interval between two adjacent Z-phase signals, if the A-phase line fails, it is switched to the B-phase signal to represent the interval of the Z-phase signal; Correspondingly, when the B-phase signal is used to represent the interval between two adjacent Z-phase signals, if the B-phase scribe line fails, then the A-phase signal is switched to represent the interval of the Z-phase signal, which can improve the reliability of the system. sex.

For example, there are 3600 evenly distributed A-phase engraving lines and 2 Z-phase engraving lines on the disc 11, and the two Z-phase engraving lines are respectively: Z-phase engraving line 21 and Z-phase engraving line 22. There is a fixed positional relationship between the line and the A-phase scribed line, so the interval between the Z-phase scribed line 21 and the Z-phase scribed line 22 can be expressed by the number of A-phase scribed lines.

In this embodiment, at least two Z-phase scribe lines are set on the disc of the grating disc. When the Z-phase scribe lines on the disc are polluted, it includes the pollution outside the existing Z-phase scribe lines and the current When there is contamination on the Z-phase reticle, the Z-phase signals generated by the abnormal Z-phase reticle can be quickly identified by the redundantly set distribution positions of the two Z-phase reticles, and then other normal Z-phase reticles can be used. The line realizes zero calibration, so the reliability of zero calibration can be improved.

In one or more embodiments, the widths of any two Z-phase scribe lines in the at least two Z-phase scribe lines are not equal. The number of at least two Z-phase engraved lines is n, where n is an integer greater than or equal to 2, and the n Z-phase engraved lines are Z-phase engraved lines 1, Z-phase engraved lines 2, ..., Z-phase engraved lines n, the above The widths of the n Z-phase scribed lines are: w1, w2, ..., wn, wherein the width relationship of the n Z-phase scribed lines satisfies: wi≠wj, i=1, 2, ..., n, j=1, 2, ..., n, i≠j. Wherein, when the widths of the Z-phase scribe lines are not equal, at least two Z-phase scribe lines may be distributed uniformly or non-uniformly on the disk 11 , which is not limited in this application. In this embodiment, by setting each Z-phase scribe line to have different widths, the Z-phase signals corresponding to each Z-phase scribe line can be effectively distinguished, so as to avoid confusion among the various Z-phase signals, and improve the accuracy of identifying the Z-phase signal.

For example, as shown in FIG. 2 , a Z-phase scribe line 21 and a Z-phase scribe line 22 are provided on the disc 11 , and the Z-phase scribe line 21 has a width greater than that of the Z-phase scribe line 22 .

Further, when the number of the at least two Z-phase scribe lines is greater than or equal to 3, the width of the Z-direction scribe lines is increased by a preset step size.

For example: when the number of Z-phase scribe lines set on the disc is 3, the 3 Z-phase scribe lines are Z-phase scribe line 1, Z-phase scribe line 2 and Z-phase scribe line 3 respectively. The width is L, the width of the Z-phase engraved line 2 is L+ΔL, and the width of the Z-phase engraved line 3 is L+2×ΔL.

In one or more embodiments, at least two Z-phase scribe lines are distributed non-uniformly on the disk.

The non-uniform distribution means that n Z-phase scribe lines divide the circumference of the disk 11 into n arcs, where n is an integer greater than 2, and there is at least one arc with unequal angles among the n arcs. , the angles of all the arcs in the n arcs are not equal, for example: n=3, 3 Z-phase lines divide the circle into 3 arcs, the sum of the angles of the 3 arcs is 360 degrees, 3 The angle distribution of each arc is 60 degrees, 120 degrees and 180 degrees, and the angles of each arc are not equal. In this embodiment, by setting at least two Z-phase scribe lines non-uniformly distributed on the disk, the Z-phase signals corresponding to each Z-phase scribe line can be effectively distinguished, so as to avoid confusion among the various Z-phase signals, and improve the identification of Z-phase signals. accuracy of the signal.

Further, the number of the at least two Z-phase scribe lines is greater than or equal to 3, and the interval between two adjacent Z-phase scribe lines is increased by a preset step size.

Among them, the interval between two adjacent Z-phase scribe lines can be represented by an angle, or it can be represented by the number of A-phase scribe lines or B-phase scribe lines.

For example: the interval is represented by an angle, the number of Z-phase engraved lines set on the grating disk is 3, and the 3 Z-phase engraved lines are: Z-phase engraved line 1, Z-phase engraved line 2 and Z-phase engraved line 3, the preset The step size is 30 degrees, the angular interval between Z-phase engraved line 1 and Z-phase engraved line 2 is 90 degrees, the angular interval between Z-phase engraved line 2 and Z-phase engraved line 3 is 120 degrees, and Z-phase engraved line The angular separation between 3 and Z-phase scribe line 1 is 150 degrees.

Another example: the interval is used to represent the number of A-phase scribe lines. There are 3600 A-phase scribe lines evenly distributed on the grating disc, and 3 Z-phase scribe lines are set at the same time: Z-phase scribe line 1, Z-phase scribe line 2 and Z-phase engraved line 3, the preset step size is 300 A-phase engraved lines. From the clockwise direction, the interval between Z-phase engraved line 1 and Z-phase engraved line 2 is 900 A-phase engraved lines. The interval between Z-phase engraved line 2 and Z-phase engraved line 3 is 1200 A-phase engraved lines, and the interval between Z-phase engraved line 3 and Z-phase engraved line 1 is 1500 A-phase engraved lines.

Wherein, when at least two Z-phase scribe lines are unevenly distributed on the disk, the widths of each Z-phase scribe line are equal.

The number of at least two Z-phase scribe lines is 2, and the angle difference between the two Z-phase scribe lines is between 30 degrees and 120 degrees.

Wherein, at least two Z-phase scribe lines are non-uniformly distributed on the disk, and the angular interval of the at least two Z-phase scribe lines is between 30 degrees and 120 degrees.

Referring to FIG. 3 , a schematic flowchart of a method for identifying a Z-phase signal provided by an embodiment of the application, the method for identifying a Z-phase signal in the embodiment of the application is applied to the grating disk of FIG. 1 and FIG. 2 , and the structure of the grating disk can be Referring to the embodiments shown in FIG. 1 and FIG. 2 , details are not repeated here. Wherein, the method includes:

S201. Determine the positions of multiple Z-phase signals collected within a preset time period.

The preset duration is generally longer than the time for the motor to rotate 360 degrees, and the preset duration preferably includes two weeks of electrode rotation, which can ensure that at least two Z-phase signals of the same type are collected within the preset duration. In addition, the grating disk is also provided with A-phase scribe lines or B-phase scribe lines, and a plurality of A-phase signals or B-phase signals are also collected by the optical receiver within a preset time period. The position of each Z-phase signal can be represented by a relative position. For example, in this embodiment, the number of A-phase signals or B-phase signals corresponding to two adjacent Z-phase signals is used to represent its position.

For example: as shown in Figure 4B, 4 Z-phase signals are collected within a preset time period, and the positions of the collected 4 Z-phase signals are determined as: the distance between the first Z-phase signal and the second Z-phase signal The interval is 900 A-phase signals, the interval between the 2nd Z-phase signal and the 3rd Z-phase signal is 2700 A-phase signals, and the interval between the 3rd Z-phase signal and the 4th Z-phase signal is 900 A-phase signals. Since it is known that there are 3600 A-phase lines on the disk, and there are 3600 A-phase lines between the first Z-phase signal and the third Z-phase signal, the first Z-phase signal and the third Z-phase signal are separated by 3600 A-phase lines. The phase signal corresponds to the same Z-phase line, and the Z-phase signal corresponding to the Z-phase line is marked as Z1; the second Z-phase signal and the fourth Z-phase signal are separated by 3600 A-phase lines, so the first The two Z-phase signals and the fourth Z-phase signal correspond to the same Z-phase line, and the Z-phase signal corresponding to the Z-phase line is marked as Z2.

S202. Identify an abnormal Z-phase signal among the plurality of Z-phase signals according to the positions of the at least two Z-phase scribe lines and the positions of the respective Z-phase signals.

S203. When there is an abnormal Z-phase signal, determine the position of the abnormal Z-phase scribe line on the grating disk according to the position of the abnormal Z-phase signal.

The position of at least two Z-phase scribe lines is pre-stored in the memory, and the positions of at least two Z-phase scribe lines can be represented by relative positions, and the relative position is the A-phase between two adjacent Z-phase scribe lines. It is indicated by the number of reticle or B-phase reticle.

For example: in FIG. 4A, the number of Z-phase engraved lines set on the grating disk is 2: Z-phase engraved lines 21 and Z-phase engraved lines 22, the widths of each Z-phase engraved line are equal, and the Z-phase engraved lines 21 stored in the memory The position between the Z-phase engraved line 22 and the Z-phase engraved line 22 is expressed as: the interval between the Z-phase engraved line 21 and the Z-phase engraved line 22 is 900 A-phase engraved lines, and the interval between the Z-phase engraved line 22 and the Z-phase engraved line 21 is 2700 A phase engraved line. When the positions of the at least two Z-phase grating lines stored in the memory match the positions of the collected multiple Z-phase signals, it indicates that the grating disk is normal, otherwise, it indicates that the grating disk is contaminated.

For example, referring to the waveform diagram of the Z-phase signal shown in FIG. 4B, 4 Z-phase signals and multiple A-phase signals are collected within a preset time period. Determine the interval between the first Z-phase signal and the second Z-phase signal by 900 A-phase signals, between the second Z-phase signal and the third Z-phase signal by 2700 A-phase signals, and the third Z-phase signal There are 2700 A-phase signals between the signal and the fourth Z-phase signal. It is known that 3600 A-phase signals will be generated when the grating disk rotates 360 degrees, so it is easy to know that the first Z-phase signal and the third Z-phase signal are composed of The same Z-phase graticule is generated, marked as Z1; the second Z-phase signal and the fourth Z-phase signal are generated by the same Z-phase grated line, marked as Z2. The positions of the two Z-phase grating lines pre-stored in the memory are: the interval between two adjacent Z-phase grating lines is 900 A-phase grating lines and 2700 A-phase grating lines. It can be seen from this that the position of the Z-phase signal collected in FIG. 4B completely matches the positions of the two Z-phase scribe lines preset in FIG. 4A , so the grating disk is normal.

For another example, referring to FIG. 5B , FIG. 5B is a waveform diagram of the collected Z-phase signals. Six Z-phase signals and multiple A-phase signals are collected within a preset time period. It is preferred to determine the pulse of each Z-phase signal. The widths meet the requirements, and then determine the positions of the 6 Z-phase signals as: the first Z-phase signal and the second Z-phase signal are separated by 900 A-phase signals, and the second Z-phase signal and the third Z-phase signal. There are 300 A-phase signals between the signals, 2400 A-phase signals between the 3rd Z-phase signal and the 4th Z-phase signal, and 900 intervals between the 4th Z-phase signal and the 5th Z-phase signal A-phase signal, there are 300 A-phase signals between the fifth Z-phase signal and the sixth Z-phase signal; it is known that 3600 A-phase signals will be generated when the grating disk rotates 360 degrees. Therefore, the 1st Z-phase signal and the 4th Z-phase signal are generated from the same Z-phase scribe line, which is recorded as Z-phase signal Z1; the 2nd Z-phase signal and the 5th Z-phase signal are generated from the same Z-phase scribe line, It is recorded as Z-phase signal Z2; the third Z-phase signal and the sixth Z-phase signal are generated by the same Z-phase scribed line, and recorded as Z-phase signal Z3. The positions of the two Z-phase grating lines pre-stored in the memory are: the interval between two adjacent Z-phase grating lines is 900 A-phase grating lines and 2700 A-phase grating lines. It can be seen that the waveforms of the Z-phase signal collected in Fig. 5B and the Z-phase signal in Fig. 4B are different. Therefore, it is easy to judge that there is an abnormal Z-phase signal in the Z-phase signal collected in Fig. 5B according to the correct Z-phase signal waveform. The position of the Z-phase scribe line stored in the image or the memory determines that the Z-phase signal Z3 is an abnormal Z-phase signal, the abnormal Z-phase signal corresponds to an abnormal Z-phase scribe line on the grating disc, and the abnormal Z-phase scribe line is on the grating disc. The distribution is shown in FIG. 5A , the interval between the abnormal Z-phase engraved line 23 and the Z-phase engraved line 22 is 300 Z-phase engraved lines, and the interval between the abnormal Z-phase engraved line 23 and the Z-phase engraved line 21 is 2400 Z-phase engraved line.

For another example, FIG. 6B is a waveform diagram of the collected Z-phase signals. Six Z-phase signals and multiple A-phase signals are collected within a preset time period. It is preferred to determine that the pulse widths of each Z-phase signal meet the requirements, and then Determine the positions of the 6 Z-phase signals as follows: the interval between the first Z-phase signal and the second Z-phase signal is 500 A-phase signals, and the interval between the second Z-phase signal and the third Z-phase signal is 400 A-phase signal, the interval between the third Z-phase signal and the fourth Z-phase signal is 2700 A-phase signals, and the interval between the fourth Z-phase signal and the fifth Z-phase signal is 500 A-phase signals, and the fifth There are 400 A-phase signals between the first Z-phase signal and the sixth Z-phase signal; it is known that 3600 A-phase signals will be generated when the grating disk rotates 360 degrees. Therefore, the first Z-phase signal and the fourth Z-phase signal are generated from the same Z-phase line, denoted as Z-phase signal Z1; the second Z-phase signal and the fifth Z-phase signal are generated from the same Z-phase line, It is recorded as Z-phase signal Z2; the third Z-phase signal and the sixth Z-phase signal are generated by the same Z-phase scribed line, and recorded as Z-phase signal Z3. The positions of the two Z-phase grating lines pre-stored in the memory are: the interval between two adjacent Z-phase grating lines is 900 A-phase grating lines and 2700 A-phase grating lines. It can be seen from this that the waveforms of the Z-phase signal collected in Fig. 6B and the Z-phase signal in Fig. 4B are different. Therefore, it is easy to judge that there is an abnormal Z-phase signal in the Z-phase signal collected in Fig. 6B according to the correct Z-phase signal waveform. The position of the Z-phase scribe line stored in the image or the memory determines that the Z-phase signal Z3 is an abnormal Z-phase signal. The abnormal Z-phase signal corresponds to an abnormal Z-phase scribe line on the grating disk. The distribution is shown in FIG. 6A , the interval between the abnormal Z-phase engraved lines 23 and Z-phase engraved lines 21 is 500 A-phase engraved lines, and the interval between the abnormal Z-phase engraved lines 23 and Z-phase engraved lines 22 is 400 A phase engraved line.

For another example, FIG. 7B is a waveform diagram of the collected Z-phase signals. Four Z-phase signals and multiple A-phase signals are collected within a preset time period, and the first Z-phase signal and the second Z-phase signal are determined. There are 700 A-phase signals between them, and the second one determines that the pulse width of the first Z-phase signal and the third Z-phase signal is not equal to the preset pulse width, so it is determined that there is abnormal Z between the four Z-phase signals. Phase signal, the interval between the first Z-phase signal and the third Z-phase signal is 3600 A-phase signals, then the first Z-phase signal and the third Z-phase signal are generated by the same Z-phase scribed line, denoted as Z-phase signal Z1. The second Z-phase signal and the fourth Z-phase signal are also generated due to the same Z-phase graticule, and are denoted as Z-phase signal Z2. according to pre-stored in memory. The waveform of the Z-phase signal collected in Fig. 7B is different from that of the Z-phase signal shown in Fig. 4B. Therefore, it is easy to judge that there is an abnormal Z-phase signal in the Z-phase signal collected in Fig. 7B. The position of the stored Z-phase engraved line determines that the Z-phase signal Z1 is an abnormal Z-phase signal. The abnormal Z-phase signal corresponds to an abnormal Z-phase engraved line on the grating disc. The abnormal Z-phase engraved line corresponds to the Z-phase engraved line 21", Z The phase scribe line 21" covers the position of the original Z-phase scribe line 21.

It should be noted that, when the setting method of each Z-phase engraved line on the grating disk is not limited to Fig. 4A to Fig. 7A, it can be combined according to actual needs, and then the processor can identify the abnormal Z-phase signal according to different setting methods, thereby The position of the abnormal Z-phase scribe line on the grating disk is determined, and the specific process can refer to the description of FIG. 4B to FIG. 7B , which will not be repeated here.

In one or more embodiments, when the plurality of Z-phase signals are not all abnormal Z-phase signals, the abnormal Z-phase signals are filtered, and zeroing is performed by normal Z-phase signals other than the abnormal Z-phase signals. bit calibration; or

Wherein, when the Z-phase signals are not all abnormal Z-phase signals, the abnormal Z-phase signals may be newly added Z-phase signals (as shown in FIG. 5B and FIG. 6B ), or the abnormal Z-phase signals shown in FIG. 7B . The abnormal Z-phase signal is filtered, and then zero calibration is performed with the normal Z-phase signal. When all the collected Z-phase signals are abnormal Z-phase signals, the zero calibration can no longer be performed normally, and an alarm prompt signal is output at this time to remind the user that maintenance is required.

The following are apparatus embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Please refer to FIG. 8 , which provides a schematic structural diagram of an optoelectronic encoder according to an embodiment of the present application. As shown in FIG. 8 , hereinafter referred to as the photoelectric encoder 1000 , this embodiment is described by taking a projection-type photoelectric encoder as an example. The photoelectric encoder 1000 may include: at least one processor 1001 , a light source 1002 , and an optical receiver 1003 , raster disk 1004 , memory 1005 and at least one communication bus 1006 .

Wherein, the light source 1002 is used to emit optical signals, and the optical signals are irradiated onto the optical receiver 1003 through the grating disc 1004 (Z-phase grating, A-phase grating or B-phase grating), and the optical receiver 1003 is used for The received optical signal is converted into an electrical signal (ie A-phase signal, B-phase signal or Z-phase signal), and the electrical signal is transmitted to the processor 1001 . The structure of the grating disk 1004 can be referred to the description of the embodiments in FIG. 1 to FIG. 2 , and details are not repeated here.

Among them, the communication bus 1006 is used to realize the connection communication between these components.

The processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts of the entire 1000, and executes photoelectric coding by running or executing the instructions, programs, code sets or instruction sets stored in the memory 1005, and calling the data stored in the memory 1005. various functions of the controller 1000 and processing data. Optionally, the processor 1001 may adopt at least one of digital signal processing (Digital Signal Processing, DSP), field-programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable LogicArray, PLA). implemented in hardware.

The memory 1005 may include random access memory (Random Access Memory, RAM), or may include read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. Memory 1005 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), Instructions and the like used to implement the above method embodiments; the storage data area may store the data and the like involved in the above method embodiments. Optionally, the memory 1005 may also be at least one storage device located away from the aforementioned processor 1001 . As shown in FIG. 8, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program.

In the photoelectric encoder 1000 shown in FIG. 8 , the processor 1001 may be configured to call the application program for configuring the application program interface stored in the memory 1005 , and specifically execute the steps described in the method embodiment of FIG. 3 .

The concept of this embodiment is the same as that of the method embodiment in FIG. 3 , and the technical effects brought by it are also the same. For the specific process, reference may be made to the description of the embodiment in FIG. 3 , which will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, or a random storage memory, and the like.

An embodiment of the present application further provides a computer storage medium, where the computer storage medium can store multiple instructions, and the instructions are suitable for being loaded by a processor and executing the method steps of the embodiment shown in FIG. 3 above. For the process, reference may be made to the specific description of the embodiment shown in FIG. 3 , which will not be repeated here.

Embodiments of the present application also provide a laser radar, including the above-mentioned photoelectric encoder.

Specifically, the above-mentioned laser transmitting circuit can be applied to the laser radar. In addition to the photoelectric encoder, the laser radar can also include specific structures such as power supply, processing equipment, optical receiving equipment, rotating body, base, housing, and human-computer interaction equipment. . It can be understood that the laser radar can be a single-channel laser radar, including one of the above-mentioned laser emission circuits, and the laser radar can also be a multi-channel laser radar, including multiple channels of the above-mentioned laser emission circuits and corresponding control systems. The quantity can be determined according to actual needs.

The above disclosures are only the preferred embodiments of the present application, and certainly cannot limit the scope of the rights of the present application. Therefore, the equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

A grating disc is characterized in that it comprises a disc, and the disc is radially distributed with at least two Z-phase scribe lines.
The grating disk according to claim 1, wherein the widths of any two Z-phase scribe lines in the at least two Z-phase scribe lines are not equal.
The grating disk according to claim 2, wherein the at least two Z-phase grating lines are evenly distributed on the disk.
The grating disk according to claim 1 or 2, wherein when the number of the at least two Z-phase scribe lines is greater than or equal to 3, the width of the Z-phase scribe lines is incremented by a preset step size.
The grating disk according to claim 1, wherein the at least two Z-phase grating lines are non-uniformly distributed on the disk.
The grating disk according to claim 5, wherein the number of the at least two Z-phase scribe lines is greater than or equal to 3, and the interval between two adjacent Z-phase scribe lines is increased by a preset step size.
The grating disk according to claim 6, wherein the width of each Z-phase scribe line is equal.
The grating disk according to claim 1, wherein the number of the at least two Z-phase scribe lines is 2, and the angle difference between the two Z-phase scribe lines is between 30 degrees and 120 degrees.
A method for identifying a Z-phase signal, characterized in that it is applied to a grating disk, the grating disk comprises a disk, and the disk is radially distributed with at least two Z-phase scribe lines;

Wherein, the identification method includes:

determining the positions of multiple Z-phase signals collected within a preset time period;

Identifying an abnormal Z-phase signal among the plurality of Z-phase signals according to the positions of the at least two Z-phase scribe lines and the positions of the respective Z-phase signals;

When there is an abnormal Z-phase signal, the position of the abnormal Z-phase scribe line on the grating disc is determined according to the position of the abnormal Z-phase signal.
The identification method according to claim 9, characterized in that, further comprising:

When the plurality of Z-phase signals are not all abnormal Z-phase signals, filter the abnormal Z-phase signals, and perform zero calibration by using normal Z-phases other than the abnormal Z-phase signals; or

When the plurality of Z-phase signals are all abnormal Z-phase signals, an alarm prompt signal is output.
A photoelectric encoder, characterized in that it comprises: a light source, a light receiver, a grating disk, a processor and a memory, and a grating disk is arranged between the light source and the light receiver;

Wherein, the memory stores a computer program adapted to be loaded by the processor and perform the method steps of any one of claims 9-10.
A lidar, characterized by comprising the photoelectric encoder as claimed in claim 11.